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Journal Article
근사적 α-β 이득 갱신을 이용한 α-β 추적필터의 성능개선
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- Authors
- 김병두, 이자성
- Issue Date
- 2006-12
- Citation
- 제어로봇시스템학회논문지, v.12, no.12, pp.1256-1260
- ISSN
- 1976-5622
- Publisher
- 제어로봇시스템학회
- Language
- Korean
- Type
- Journal Article
- Abstract
- This paper presents an enhanced α-β tracking filter whose α-β gains are updated by an approximation method at every scan to account for the transition of measurement dependent observation error variance in two-dimensional Cartesian coordinates. The approximate α-β gains are calculated from the amount of the change in the tracking index and the partial derivatives of the α-β gains with respect to a nominal tracking index. It is shown via simulation that the proposed tracker provides improved performance compared to the conventional α-β tracking filter.
- KSP Keywords
- Approximation methods, Cartesian coordinates, Observation error, dependent observation, error variance, improved performance, partial derivatives, tracking filter, two-dimensional(2D)